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<div class="title">gicp.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_GICP_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_GICP_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/icp.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/bfgs.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target&gt;</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html">   60</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html">GeneralizedIterativeClosestPoint</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint</a>&lt;PointSource, PointTarget&gt;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::reg_name_</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::getClassName</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::indices_</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::target_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::input_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::tree_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::tree_reciprocal_</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::nr_iterations_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::max_iterations_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::previous_transformation_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::final_transformation_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::transformation_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::transformation_epsilon_</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::converged_</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::corr_dist_threshold_</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::inlier_threshold_</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::min_number_correspondences_</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_iterative_closest_point.html">IterativeClosestPoint&lt;PointSource, PointTarget&gt;::update_visualizer_</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::Ptr PointCloudTargetPtr;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::ConstPtr PointCloudTargetConstPtr;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">typedef</span> PointIndices::Ptr PointIndicesPtr;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">typedef</span> PointIndices::ConstPtr PointIndicesConstPtr;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">typedef</span> std::vector&lt; Eigen::Matrix3d, Eigen::aligned_allocator&lt;Eigen::Matrix3d&gt; &gt; MatricesVector;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; MatricesVector &gt; MatricesVectorPtr;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const MatricesVector &gt; MatricesVectorConstPtr;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">Registration&lt;PointSource, PointTarget&gt;::KdTree</a> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">InputKdTree</a>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Registration&lt;PointSource, PointTarget&gt;::KdTreePtr InputKdTreePtr;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; GeneralizedIterativeClosestPoint&lt;PointSource, PointTarget&gt; &gt; Ptr;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const GeneralizedIterativeClosestPoint&lt;PointSource, PointTarget&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;double, 6, 1&gt; Vector6d;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a350789e9f794898b82a324ae9c0707b2">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a350789e9f794898b82a324ae9c0707b2">GeneralizedIterativeClosestPoint</a> () </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        : <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a53aa249cc286ecc5e2c8889970c3659d">k_correspondences_</a>(20)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        , <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a6905fe14a36c11adb4f0f8d90641561e">gicp_epsilon_</a>(0.001)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        , <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a6b3c435a32ae28d6c4bee571d4c675f3">rotation_epsilon_</a>(2e-3)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        , <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a42077263d639013b40d73f672a104b09">mahalanobis_</a>(0)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        , <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a228333faefeb99a185b285aced8d0c68">max_inner_iterations_</a>(20)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#ae33bc2efe08f2fff1a35df1b3d602036">min_number_correspondences_</a> = 4;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">reg_name_</a> = <span class="stringliteral">&quot;GeneralizedIterativeClosestPoint&quot;</span>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#aa776d097d20137f2702a275d931989d2">max_iterations_</a> = 200;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#adbd6519634f433c0be2fd640c0c75108">transformation_epsilon_</a> = 5e-4;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a15aa975f33a8f22573bad118ddda10dd">corr_dist_threshold_</a> = 5.;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        rigid_transformation_estimation_ = </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          boost::bind (&amp;<a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html">GeneralizedIterativeClosestPoint&lt;PointSource, PointTarget&gt;::estimateRigidTransformationBFGS</a>, </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                       <span class="keyword">this</span>, _1, _2, _3, _4, _5); </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      PCL_DEPRECATED (<span class="stringliteral">&quot;[pcl::registration::GeneralizedIterativeClosestPoint::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.&quot;</span>)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      void</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a796c0d782df55e6b35f726a5f6b34097">setInputCloud</a> (const PointCloudSourceConstPtr &amp;cloud);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      inline <span class="keywordtype">void</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#ae467fc33cda4a4b26ddf25694669bd6a">  135</a></span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#ae467fc33cda4a4b26ddf25694669bd6a">setInputSource</a> (const PointCloudSourceConstPtr &amp;cloud)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordflow">if</span> (cloud-&gt;points.empty ())</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::setInputSource] Invalid or empty point cloud dataset given!\n&quot;</span>, <a class="code" href="classpcl_1_1_registration.html#a26eae6a42450893ca1c2ed81560159f2">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;          <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        }</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> input = *cloud;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="comment">// Set all the point.data[3] values to 1 to aid the rigid transformation</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; input.size (); ++i)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          input[i].data[3] = 1.0;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <a class="code" href="classpcl_1_1_iterative_closest_point.html#ad5215429e057c8760ac48e9bdb09b12c">pcl::IterativeClosestPoint&lt;PointSource, PointTarget&gt;::setInputSource</a> (cloud);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#ac86cb83cfcca7d2a5664369dbc0f210c">input_covariances_</a>.reset ();</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#aa920a3d264658fd800283c4782eeba22">  158</a></span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#aa920a3d264658fd800283c4782eeba22">setSourceCovariances</a> (<span class="keyword">const</span> MatricesVectorPtr&amp; covariances)</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      {</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#ac86cb83cfcca7d2a5664369dbc0f210c">input_covariances_</a> = covariances;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a840fecfc709ee6dc09c854b8043653e4">  167</a></span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a840fecfc709ee6dc09c854b8043653e4">setInputTarget</a> (<span class="keyword">const</span> PointCloudTargetConstPtr &amp;target)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <a class="code" href="classpcl_1_1_iterative_closest_point.html#a8876f743cc31471a975e950e66c179d4">pcl::IterativeClosestPoint&lt;PointSource, PointTarget&gt;::setInputTarget</a>(target);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a81ed891465b173c8ee3e22cea593de3c">target_covariances_</a>.reset ();</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a1d8352c40e90294c35c581cd1075e0be">  179</a></span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a1d8352c40e90294c35c581cd1075e0be">setTargetCovariances</a> (<span class="keyword">const</span> MatricesVectorPtr&amp; covariances)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a81ed891465b173c8ee3e22cea593de3c">target_covariances_</a> = covariances;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#aea02526ff54e350a6335d27490d81ca4">estimateRigidTransformationBFGS</a> (<span class="keyword">const</span> PointCloudSource &amp;cloud_src,</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                                       <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_src,</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                                       <span class="keyword">const</span> PointCloudTarget &amp;cloud_tgt,</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                                       <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_tgt,</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;                                       Eigen::Matrix4f &amp;transformation_matrix);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#ad095300e41f27b087fbace58aa2500fa">  200</a></span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> Eigen::Matrix3d&amp; <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#ad095300e41f27b087fbace58aa2500fa">mahalanobis</a>(<span class="keywordtype">size_t</span> index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        assert(index &lt; <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a42077263d639013b40d73f672a104b09">mahalanobis_</a>.size());</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a42077263d639013b40d73f672a104b09">mahalanobis_</a>[index];</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#acce93f0ea69ea9d9798529cc6e1083e0">computeRDerivative</a>(<span class="keyword">const</span> Vector6d &amp;x, <span class="keyword">const</span> Eigen::Matrix3d &amp;R, Vector6d &amp;g) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#acd53ca930d9019dab949c514f5857cb9">  222</a></span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#acd53ca930d9019dab949c514f5857cb9">setRotationEpsilon</a> (<span class="keywordtype">double</span> epsilon) { <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a6b3c435a32ae28d6c4bee571d4c675f3">rotation_epsilon_</a> = epsilon; }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a88a41b7025330a67f4c2eb2b90789a76">  228</a></span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a88a41b7025330a67f4c2eb2b90789a76">getRotationEpsilon</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a6b3c435a32ae28d6c4bee571d4c675f3">rotation_epsilon_</a>); }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#ab3a88c2be49568e9562f84309a8c0121">  237</a></span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#ab3a88c2be49568e9562f84309a8c0121">setCorrespondenceRandomness</a> (<span class="keywordtype">int</span> k) { <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a53aa249cc286ecc5e2c8889970c3659d">k_correspondences_</a> = k; }</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a91afd9ac812760e0440dfe56b4ad84a5">  243</a></span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a91afd9ac812760e0440dfe56b4ad84a5">getCorrespondenceRandomness</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a53aa249cc286ecc5e2c8889970c3659d">k_correspondences_</a>); }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a5d20ad4c1291318137955b78aace359b">  249</a></span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a5d20ad4c1291318137955b78aace359b">setMaximumOptimizerIterations</a> (<span class="keywordtype">int</span> max) { <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a228333faefeb99a185b285aced8d0c68">max_inner_iterations_</a> = max; }</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a075bc110401111586252433c747a0490">  253</a></span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a075bc110401111586252433c747a0490">getMaximumOptimizerIterations</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a228333faefeb99a185b285aced8d0c68">max_inner_iterations_</a>); }</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a53aa249cc286ecc5e2c8889970c3659d">  260</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a53aa249cc286ecc5e2c8889970c3659d">k_correspondences_</a>;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a6905fe14a36c11adb4f0f8d90641561e">  266</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a6905fe14a36c11adb4f0f8d90641561e">gicp_epsilon_</a>;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a6b3c435a32ae28d6c4bee571d4c675f3">  272</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a6b3c435a32ae28d6c4bee571d4c675f3">rotation_epsilon_</a>;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#af6c01fd53acacf1a488546ad2def4821">  275</a></span>&#160;      Eigen::Matrix4f <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#af6c01fd53acacf1a488546ad2def4821">base_transformation_</a>;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a186170fb2130cdca3e0f5ef8848a78b6">  278</a></span>&#160;      <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> *<a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a186170fb2130cdca3e0f5ef8848a78b6">tmp_src_</a>;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a7c1850fa0ac8df790aa9791a8d0f4343">  281</a></span>&#160;      <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>  *<a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a7c1850fa0ac8df790aa9791a8d0f4343">tmp_tgt_</a>;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#aebed534fc98c098ef8b0d0abaef720fd">  284</a></span>&#160;      <span class="keyword">const</span> std::vector&lt;int&gt; *<a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#aebed534fc98c098ef8b0d0abaef720fd">tmp_idx_src_</a>;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#acd1d3d3abcca095774c1d2a7d1a24941">  287</a></span>&#160;      <span class="keyword">const</span> std::vector&lt;int&gt; *<a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#acd1d3d3abcca095774c1d2a7d1a24941">tmp_idx_tgt_</a>;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      </div>
<div class="line"><a name="l00291"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#ac86cb83cfcca7d2a5664369dbc0f210c">  291</a></span>&#160;      MatricesVectorPtr <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#ac86cb83cfcca7d2a5664369dbc0f210c">input_covariances_</a>;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a81ed891465b173c8ee3e22cea593de3c">  294</a></span>&#160;      MatricesVectorPtr <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a81ed891465b173c8ee3e22cea593de3c">target_covariances_</a>;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a42077263d639013b40d73f672a104b09">  297</a></span>&#160;      std::vector&lt;Eigen::Matrix3d&gt; <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a42077263d639013b40d73f672a104b09">mahalanobis_</a>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      </div>
<div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#a228333faefeb99a185b285aced8d0c68">  300</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a228333faefeb99a185b285aced8d0c68">max_inner_iterations_</a>;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a4307aa8507e98a86183d3ba4cb5400d0">computeCovariances</a>(<span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr cloud, </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;                              <span class="keyword">const</span> <span class="keyword">typename</span> pcl::search::KdTree&lt;PointT&gt;::Ptr tree,</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;                              MatricesVector&amp; cloud_covariances);</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#acb1a500edb1a2ed18a06e693694c2a44">  318</a></span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#acb1a500edb1a2ed18a06e693694c2a44">matricesInnerProd</a>(<span class="keyword">const</span> Eigen::MatrixXd&amp; mat1, <span class="keyword">const</span> Eigen::MatrixXd&amp; mat2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        <span class="keywordtype">double</span> r = 0.;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        <span class="keywordtype">size_t</span> n = mat1.rows();</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        <span class="comment">// tr(mat1^t.mat2)</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; n; i++)</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;          <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> j = 0; j &lt; n; j++)</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;            r += mat1 (j, i) * mat2 (i,j);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        <span class="keywordflow">return</span> r;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      }</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a21e902199045b4835c78bed15a3b7367">computeTransformation</a> (PointCloudSource &amp;output, <span class="keyword">const</span> Eigen::Matrix4f &amp;guess);</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00342"></a><span class="lineno"><a class="line" href="classpcl_1_1_generalized_iterative_closest_point.html#ae379911827eaacf4ce6d1c6f1dcdb0b6">  342</a></span>&#160;      <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#ae379911827eaacf4ce6d1c6f1dcdb0b6">searchForNeighbors</a> (<span class="keyword">const</span> PointSource &amp;query, std::vector&lt;int&gt;&amp; index, std::vector&lt;float&gt;&amp; distance)</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      {</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        <span class="keywordtype">int</span> k = <a class="code" href="classpcl_1_1_registration.html#a79b6170328705f29854aba00c4feb66d">tree_</a>-&gt;nearestKSearch (query, 1, index, distance);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        <span class="keywordflow">if</span> (k == 0)</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      }</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html#a52623ea7fd4588948e7c9f555f25b5c8">applyState</a>(Eigen::Matrix4f &amp;t, <span class="keyword">const</span> Vector6d&amp; x) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      </div>
<div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="structpcl_1_1_generalized_iterative_closest_point_1_1_optimization_functor_with_indices.html">  354</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_generalized_iterative_closest_point_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a> : <span class="keyword">public</span> <a class="code" href="struct_b_f_g_s_dummy_functor.html">BFGSDummyFunctor</a>&lt;double,6&gt;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      {</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        <a class="code" href="structpcl_1_1_generalized_iterative_closest_point_1_1_optimization_functor_with_indices.html">OptimizationFunctorWithIndices</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html">GeneralizedIterativeClosestPoint</a>* gicp)</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;          : <a class="code" href="struct_b_f_g_s_dummy_functor.html">BFGSDummyFunctor&lt;double,6&gt;</a> (), gicp_(gicp) {}</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        <span class="keywordtype">double</span> operator() (<span class="keyword">const</span> Vector6d&amp; x);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        <span class="keywordtype">void</span>  df(<span class="keyword">const</span> Vector6d &amp;x, Vector6d &amp;df);</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        <span class="keywordtype">void</span> fdf(<span class="keyword">const</span> Vector6d &amp;x, <span class="keywordtype">double</span> &amp;f, Vector6d &amp;df);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <span class="keyword">const</span> <a class="code" href="classpcl_1_1_generalized_iterative_closest_point.html">GeneralizedIterativeClosestPoint</a> *gicp_;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      };</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      boost::function&lt;void(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;                           <span class="keyword">const</span> std::vector&lt;int&gt; &amp;src_indices,</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;                           <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;                           <span class="keyword">const</span> std::vector&lt;int&gt; &amp;tgt_indices,</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;                           Eigen::Matrix4f &amp;transformation_matrix)&gt; rigid_transformation_estimation_;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  };</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;}</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/gicp.hpp&gt;</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_GICP_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html">pcl::GeneralizedIterativeClosestPoint</a></div><div class="ttdoc">GeneralizedIterativeClosestPoint is an ICP variant that implements the generalized iterative closest ...</div><div class="ttdef"><b>Definition:</b> gicp.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a075bc110401111586252433c747a0490"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a075bc110401111586252433c747a0490">pcl::GeneralizedIterativeClosestPoint::getMaximumOptimizerIterations</a></div><div class="ttdeci">int getMaximumOptimizerIterations()</div><div class="ttdef"><b>Definition:</b> gicp.h:253</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a186170fb2130cdca3e0f5ef8848a78b6"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a186170fb2130cdca3e0f5ef8848a78b6">pcl::GeneralizedIterativeClosestPoint::tmp_src_</a></div><div class="ttdeci">const PointCloudSource * tmp_src_</div><div class="ttdoc">Temporary pointer to the source dataset.</div><div class="ttdef"><b>Definition:</b> gicp.h:278</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a1d8352c40e90294c35c581cd1075e0be"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a1d8352c40e90294c35c581cd1075e0be">pcl::GeneralizedIterativeClosestPoint::setTargetCovariances</a></div><div class="ttdeci">void setTargetCovariances(const MatricesVectorPtr &amp;covariances)</div><div class="ttdoc">Provide a pointer to the covariances of the input target (if computed externally!)....</div><div class="ttdef"><b>Definition:</b> gicp.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a21e902199045b4835c78bed15a3b7367"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a21e902199045b4835c78bed15a3b7367">pcl::GeneralizedIterativeClosestPoint::computeTransformation</a></div><div class="ttdeci">void computeTransformation(PointCloudSource &amp;output, const Eigen::Matrix4f &amp;guess)</div><div class="ttdoc">Rigid transformation computation method with initial guess.</div><div class="ttdef"><b>Definition:</b> gicp.hpp:353</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a228333faefeb99a185b285aced8d0c68"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a228333faefeb99a185b285aced8d0c68">pcl::GeneralizedIterativeClosestPoint::max_inner_iterations_</a></div><div class="ttdeci">int max_inner_iterations_</div><div class="ttdoc">maximum number of optimizations</div><div class="ttdef"><b>Definition:</b> gicp.h:300</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a350789e9f794898b82a324ae9c0707b2"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a350789e9f794898b82a324ae9c0707b2">pcl::GeneralizedIterativeClosestPoint::GeneralizedIterativeClosestPoint</a></div><div class="ttdeci">GeneralizedIterativeClosestPoint()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> gicp.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a42077263d639013b40d73f672a104b09"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a42077263d639013b40d73f672a104b09">pcl::GeneralizedIterativeClosestPoint::mahalanobis_</a></div><div class="ttdeci">std::vector&lt; Eigen::Matrix3d &gt; mahalanobis_</div><div class="ttdoc">Mahalanobis matrices holder.</div><div class="ttdef"><b>Definition:</b> gicp.h:297</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a4307aa8507e98a86183d3ba4cb5400d0"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a4307aa8507e98a86183d3ba4cb5400d0">pcl::GeneralizedIterativeClosestPoint::computeCovariances</a></div><div class="ttdeci">void computeCovariances(typename pcl::PointCloud&lt; PointT &gt;::ConstPtr cloud, const typename pcl::search::KdTree&lt; PointT &gt;::Ptr tree, MatricesVector &amp;cloud_covariances)</div><div class="ttdoc">compute points covariances matrices according to the K nearest neighbors. K is set via setCorresponde...</div><div class="ttdef"><b>Definition:</b> gicp.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a52623ea7fd4588948e7c9f555f25b5c8"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a52623ea7fd4588948e7c9f555f25b5c8">pcl::GeneralizedIterativeClosestPoint::applyState</a></div><div class="ttdeci">void applyState(Eigen::Matrix4f &amp;t, const Vector6d &amp;x) const</div><div class="ttdoc">compute transformation matrix from transformation matrix</div><div class="ttdef"><b>Definition:</b> gicp.hpp:476</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a53aa249cc286ecc5e2c8889970c3659d"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a53aa249cc286ecc5e2c8889970c3659d">pcl::GeneralizedIterativeClosestPoint::k_correspondences_</a></div><div class="ttdeci">int k_correspondences_</div><div class="ttdoc">The number of neighbors used for covariances computation. default: 20</div><div class="ttdef"><b>Definition:</b> gicp.h:260</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a5d20ad4c1291318137955b78aace359b"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a5d20ad4c1291318137955b78aace359b">pcl::GeneralizedIterativeClosestPoint::setMaximumOptimizerIterations</a></div><div class="ttdeci">void setMaximumOptimizerIterations(int max)</div><div class="ttdef"><b>Definition:</b> gicp.h:249</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a6905fe14a36c11adb4f0f8d90641561e"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a6905fe14a36c11adb4f0f8d90641561e">pcl::GeneralizedIterativeClosestPoint::gicp_epsilon_</a></div><div class="ttdeci">double gicp_epsilon_</div><div class="ttdoc">The epsilon constant for gicp paper; this is NOT the convergence tolerence default: 0....</div><div class="ttdef"><b>Definition:</b> gicp.h:266</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a6b3c435a32ae28d6c4bee571d4c675f3"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a6b3c435a32ae28d6c4bee571d4c675f3">pcl::GeneralizedIterativeClosestPoint::rotation_epsilon_</a></div><div class="ttdeci">double rotation_epsilon_</div><div class="ttdef"><b>Definition:</b> gicp.h:272</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a796c0d782df55e6b35f726a5f6b34097"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a796c0d782df55e6b35f726a5f6b34097">pcl::GeneralizedIterativeClosestPoint::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> gicp.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a7c1850fa0ac8df790aa9791a8d0f4343"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a7c1850fa0ac8df790aa9791a8d0f4343">pcl::GeneralizedIterativeClosestPoint::tmp_tgt_</a></div><div class="ttdeci">const PointCloudTarget * tmp_tgt_</div><div class="ttdoc">Temporary pointer to the target dataset.</div><div class="ttdef"><b>Definition:</b> gicp.h:281</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a81ed891465b173c8ee3e22cea593de3c"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a81ed891465b173c8ee3e22cea593de3c">pcl::GeneralizedIterativeClosestPoint::target_covariances_</a></div><div class="ttdeci">MatricesVectorPtr target_covariances_</div><div class="ttdoc">Target cloud points covariances.</div><div class="ttdef"><b>Definition:</b> gicp.h:294</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a840fecfc709ee6dc09c854b8043653e4"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a840fecfc709ee6dc09c854b8043653e4">pcl::GeneralizedIterativeClosestPoint::setInputTarget</a></div><div class="ttdeci">void setInputTarget(const PointCloudTargetConstPtr &amp;target)</div><div class="ttdoc">Provide a pointer to the input target (e.g., the point cloud that we want to align the input source t...</div><div class="ttdef"><b>Definition:</b> gicp.h:167</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a88a41b7025330a67f4c2eb2b90789a76"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a88a41b7025330a67f4c2eb2b90789a76">pcl::GeneralizedIterativeClosestPoint::getRotationEpsilon</a></div><div class="ttdeci">double getRotationEpsilon()</div><div class="ttdoc">Get the rotation epsilon (maximum allowable difference between two consecutive rotations) as set by t...</div><div class="ttdef"><b>Definition:</b> gicp.h:228</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_a91afd9ac812760e0440dfe56b4ad84a5"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#a91afd9ac812760e0440dfe56b4ad84a5">pcl::GeneralizedIterativeClosestPoint::getCorrespondenceRandomness</a></div><div class="ttdeci">int getCorrespondenceRandomness()</div><div class="ttdoc">Get the number of neighbors used when computing covariances as set by the user</div><div class="ttdef"><b>Definition:</b> gicp.h:243</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_aa920a3d264658fd800283c4782eeba22"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#aa920a3d264658fd800283c4782eeba22">pcl::GeneralizedIterativeClosestPoint::setSourceCovariances</a></div><div class="ttdeci">void setSourceCovariances(const MatricesVectorPtr &amp;covariances)</div><div class="ttdoc">Provide a pointer to the covariances of the input source (if computed externally!)....</div><div class="ttdef"><b>Definition:</b> gicp.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_ab3a88c2be49568e9562f84309a8c0121"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#ab3a88c2be49568e9562f84309a8c0121">pcl::GeneralizedIterativeClosestPoint::setCorrespondenceRandomness</a></div><div class="ttdeci">void setCorrespondenceRandomness(int k)</div><div class="ttdoc">Set the number of neighbors used when selecting a point neighbourhood to compute covariances....</div><div class="ttdef"><b>Definition:</b> gicp.h:237</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_ac86cb83cfcca7d2a5664369dbc0f210c"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#ac86cb83cfcca7d2a5664369dbc0f210c">pcl::GeneralizedIterativeClosestPoint::input_covariances_</a></div><div class="ttdeci">MatricesVectorPtr input_covariances_</div><div class="ttdoc">Input cloud points covariances.</div><div class="ttdef"><b>Definition:</b> gicp.h:291</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_acb1a500edb1a2ed18a06e693694c2a44"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#acb1a500edb1a2ed18a06e693694c2a44">pcl::GeneralizedIterativeClosestPoint::matricesInnerProd</a></div><div class="ttdeci">double matricesInnerProd(const Eigen::MatrixXd &amp;mat1, const Eigen::MatrixXd &amp;mat2) const</div><div class="ttdef"><b>Definition:</b> gicp.h:318</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_acce93f0ea69ea9d9798529cc6e1083e0"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#acce93f0ea69ea9d9798529cc6e1083e0">pcl::GeneralizedIterativeClosestPoint::computeRDerivative</a></div><div class="ttdeci">void computeRDerivative(const Vector6d &amp;x, const Eigen::Matrix3d &amp;R, Vector6d &amp;g) const</div><div class="ttdoc">Computes rotation matrix derivative. rotation matrix is obtainded from rotation angles x[3],...</div><div class="ttdef"><b>Definition:</b> gicp.hpp:135</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_acd1d3d3abcca095774c1d2a7d1a24941"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#acd1d3d3abcca095774c1d2a7d1a24941">pcl::GeneralizedIterativeClosestPoint::tmp_idx_tgt_</a></div><div class="ttdeci">const std::vector&lt; int &gt; * tmp_idx_tgt_</div><div class="ttdoc">Temporary pointer to the target dataset indices.</div><div class="ttdef"><b>Definition:</b> gicp.h:287</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_acd53ca930d9019dab949c514f5857cb9"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#acd53ca930d9019dab949c514f5857cb9">pcl::GeneralizedIterativeClosestPoint::setRotationEpsilon</a></div><div class="ttdeci">void setRotationEpsilon(double epsilon)</div><div class="ttdoc">Set the rotation epsilon (maximum allowable difference between two consecutive rotations) in order fo...</div><div class="ttdef"><b>Definition:</b> gicp.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_ad095300e41f27b087fbace58aa2500fa"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#ad095300e41f27b087fbace58aa2500fa">pcl::GeneralizedIterativeClosestPoint::mahalanobis</a></div><div class="ttdeci">const Eigen::Matrix3d &amp; mahalanobis(size_t index) const</div><div class="ttdef"><b>Definition:</b> gicp.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_ae379911827eaacf4ce6d1c6f1dcdb0b6"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#ae379911827eaacf4ce6d1c6f1dcdb0b6">pcl::GeneralizedIterativeClosestPoint::searchForNeighbors</a></div><div class="ttdeci">bool searchForNeighbors(const PointSource &amp;query, std::vector&lt; int &gt; &amp;index, std::vector&lt; float &gt; &amp;distance)</div><div class="ttdoc">Search for the closest nearest neighbor of a given point.</div><div class="ttdef"><b>Definition:</b> gicp.h:342</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_ae467fc33cda4a4b26ddf25694669bd6a"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#ae467fc33cda4a4b26ddf25694669bd6a">pcl::GeneralizedIterativeClosestPoint::setInputSource</a></div><div class="ttdeci">void setInputSource(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> gicp.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_aea02526ff54e350a6335d27490d81ca4"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#aea02526ff54e350a6335d27490d81ca4">pcl::GeneralizedIterativeClosestPoint::estimateRigidTransformationBFGS</a></div><div class="ttdeci">void estimateRigidTransformationBFGS(const PointCloudSource &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const PointCloudTarget &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Eigen::Matrix4f &amp;transformation_matrix)</div><div class="ttdoc">Estimate a rigid rotation transformation between a source and a target point cloud using an iterative...</div><div class="ttdef"><b>Definition:</b> gicp.hpp:190</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_aebed534fc98c098ef8b0d0abaef720fd"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#aebed534fc98c098ef8b0d0abaef720fd">pcl::GeneralizedIterativeClosestPoint::tmp_idx_src_</a></div><div class="ttdeci">const std::vector&lt; int &gt; * tmp_idx_src_</div><div class="ttdoc">Temporary pointer to the source dataset indices.</div><div class="ttdef"><b>Definition:</b> gicp.h:284</div></div>
<div class="ttc" id="aclasspcl_1_1_generalized_iterative_closest_point_html_af6c01fd53acacf1a488546ad2def4821"><div class="ttname"><a href="classpcl_1_1_generalized_iterative_closest_point.html#af6c01fd53acacf1a488546ad2def4821">pcl::GeneralizedIterativeClosestPoint::base_transformation_</a></div><div class="ttdeci">Eigen::Matrix4f base_transformation_</div><div class="ttdoc">base transformation</div><div class="ttdef"><b>Definition:</b> gicp.h:275</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html">pcl::IterativeClosestPoint</a></div><div class="ttdoc">IterativeClosestPoint provides a base implementation of the Iterative Closest Point algorithm....</div><div class="ttdef"><b>Definition:</b> icp.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_a8876f743cc31471a975e950e66c179d4"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#a8876f743cc31471a975e950e66c179d4">pcl::IterativeClosestPoint::setInputTarget</a></div><div class="ttdeci">virtual void setInputTarget(const PointCloudTargetConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input target (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> icp.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1_iterative_closest_point_html_ad5215429e057c8760ac48e9bdb09b12c"><div class="ttname"><a href="classpcl_1_1_iterative_closest_point.html#ad5215429e057c8760ac48e9bdb09b12c">pcl::IterativeClosestPoint::setInputSource</a></div><div class="ttdeci">virtual void setInputSource(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> icp.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a15aa975f33a8f22573bad118ddda10dd"><div class="ttname"><a href="classpcl_1_1_registration.html#a15aa975f33a8f22573bad118ddda10dd">pcl::Registration&lt; PointSource, PointTarget, float &gt;::corr_dist_threshold_</a></div><div class="ttdeci">double corr_dist_threshold_</div><div class="ttdoc">The maximum distance threshold between two correspondent points in source &lt;-&gt; target....</div><div class="ttdef"><b>Definition:</b> registration.h:527</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a1e493af70763e05bcaf5ecd0ed7be63d"><div class="ttname"><a href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">pcl::Registration&lt; PointSource, PointTarget, float &gt;::reg_name_</a></div><div class="ttdeci">std::string reg_name_</div><div class="ttdoc">The registration method name.</div><div class="ttdef"><b>Definition:</b> registration.h:482</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a26eae6a42450893ca1c2ed81560159f2"><div class="ttname"><a href="classpcl_1_1_registration.html#a26eae6a42450893ca1c2ed81560159f2">pcl::Registration&lt; PointSource, PointTarget, float &gt;::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Abstract class get name method.</div><div class="ttdef"><b>Definition:</b> registration.h:422</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a79b6170328705f29854aba00c4feb66d"><div class="ttname"><a href="classpcl_1_1_registration.html#a79b6170328705f29854aba00c4feb66d">pcl::Registration&lt; PointSource, PointTarget, float &gt;::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> registration.h:485</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_aa776d097d20137f2702a275d931989d2"><div class="ttname"><a href="classpcl_1_1_registration.html#aa776d097d20137f2702a275d931989d2">pcl::Registration&lt; PointSource, PointTarget, float &gt;::max_iterations_</a></div><div class="ttdeci">int max_iterations_</div><div class="ttdoc">The maximum number of iterations the internal optimization should run for. The default value is 10.</div><div class="ttdef"><b>Definition:</b> registration.h:496</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_adbd6519634f433c0be2fd640c0c75108"><div class="ttname"><a href="classpcl_1_1_registration.html#adbd6519634f433c0be2fd640c0c75108">pcl::Registration&lt; PointSource, PointTarget, float &gt;::transformation_epsilon_</a></div><div class="ttdeci">double transformation_epsilon_</div><div class="ttdoc">The maximum difference between two consecutive transformations in order to consider convergence (user...</div><div class="ttdef"><b>Definition:</b> registration.h:516</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ae33bc2efe08f2fff1a35df1b3d602036"><div class="ttname"><a href="classpcl_1_1_registration.html#ae33bc2efe08f2fff1a35df1b3d602036">pcl::Registration&lt; PointSource, PointTarget, float &gt;::min_number_correspondences_</a></div><div class="ttdeci">int min_number_correspondences_</div><div class="ttdoc">The minimum number of correspondences that the algorithm needs before attempting to estimate the tran...</div><div class="ttdef"><b>Definition:</b> registration.h:541</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt; PointTarget &gt;</a></div></div>
<div class="ttc" id="astruct_b_f_g_s_dummy_functor_html"><div class="ttname"><a href="struct_b_f_g_s_dummy_functor.html">BFGSDummyFunctor</a></div><div class="ttdef"><b>Definition:</b> bfgs.h:75</div></div>
<div class="ttc" id="astructpcl_1_1_generalized_iterative_closest_point_1_1_optimization_functor_with_indices_html"><div class="ttname"><a href="structpcl_1_1_generalized_iterative_closest_point_1_1_optimization_functor_with_indices.html">pcl::GeneralizedIterativeClosestPoint::OptimizationFunctorWithIndices</a></div><div class="ttdoc">optimization functor structure</div><div class="ttdef"><b>Definition:</b> gicp.h:355</div></div>
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